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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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144 lines
4.0 KiB
C++
144 lines
4.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file CatapultLaunchMethod.cpp
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* Catapult Launch detection
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*
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*/
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#include "CatapultLaunchMethod.h"
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#include <systemlib/err.h>
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#include <inttypes.h>
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namespace launchdetection
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{
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CatapultLaunchMethod::CatapultLaunchMethod(SuperBlock *parent) :
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SuperBlock(parent, "CAT"),
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last_timestamp(hrt_absolute_time()),
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integrator(0.0f),
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state(LAUNCHDETECTION_RES_NONE),
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thresholdAccel(this, "A"),
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thresholdTime(this, "T"),
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motorDelay(this, "MDEL"),
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pitchMaxPreThrottle(this, "PMAX")
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{
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}
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CatapultLaunchMethod::~CatapultLaunchMethod()
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{
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}
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void CatapultLaunchMethod::update(float accel_x)
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{
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float dt = (float)hrt_elapsed_time(&last_timestamp) * 1e-6f;
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last_timestamp = hrt_absolute_time();
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switch (state) {
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case LAUNCHDETECTION_RES_NONE:
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/* Detect a acceleration that is longer and stronger as the minimum given by the params */
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if (accel_x > thresholdAccel.get()) {
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integrator += dt;
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if (integrator > thresholdTime.get()) {
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if (motorDelay.get() > 0.0f) {
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state = LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL;
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warnx("Launch detected: enablecontrol, waiting %8.4fs until full throttle",
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double(motorDelay.get()));
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} else {
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/* No motor delay set: go directly to enablemotors state */
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state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS;
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warnx("Launch detected: enablemotors (delay not activated)");
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}
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}
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} else {
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/* reset */
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reset();
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}
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break;
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case LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL:
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/* Vehicle is currently controlling attitude but not with full throttle. Waiting until delay is
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* over to allow full throttle */
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motorDelayCounter += dt;
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if (motorDelayCounter > motorDelay.get()) {
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warnx("Launch detected: state enablemotors");
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state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS;
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}
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break;
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default:
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break;
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}
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}
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LaunchDetectionResult CatapultLaunchMethod::getLaunchDetected() const
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{
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return state;
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}
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void CatapultLaunchMethod::reset()
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{
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integrator = 0.0f;
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motorDelayCounter = 0.0f;
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state = LAUNCHDETECTION_RES_NONE;
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}
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float CatapultLaunchMethod::getPitchMax(float pitchMaxDefault)
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{
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/* If motor is turned on do not impose the extra limit on maximum pitch */
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if (state == LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
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return pitchMaxDefault;
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} else {
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return pitchMaxPreThrottle.get();
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}
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}
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}
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